HIL’16 summer school

Lille, 1-2 September 2016

http://l2ep.univ-lille1.fr/hil2016/

http://www.megevh.org/

« CONTROL STRUCTURE FROM THE SIMULATION TO THE

PROTOTYPE OF A DOUBLE PARALLEL HEV USING

ENERGETIC MACROSCOPIC REPRESENTATION »

Dr. T. Letrouvé1,2, Dr. Walter Lhomme1

Pr. A. Bouscayrol1, Dr. N. Dollinger2

1University of Lille 1, L2EP 2PSA Peugeot-Citroën Walter.Lhomme@univ-lille1.fr

http://www.megevh.org/

Presentation based on the PhD of T. Letrouvé (2013)

MEGEVH

2

PMSM 10 kW HV battery

PMSM 20 kW

3008 HY4

How to organize

the control and

manage the energy?

MEGEVH

3

Modelling

Simulation

Control 1

Control 2

Prototype

Industrial

approach

How to structure

and systematize

the control?

Structural simulation tools

• Dymola

• AMEsim

• SimDriveline

• AUTONOMIE

• ADVISOR

Heuristic control based

on the expertise that

needs a significant

development time

MEGEVH

4

Modelling

Simulation

Control 1

Control 2

Prototype

Modelling

Simulation

Prototype

Representation

HIL simulation

Systematic control

Industrial

approach

MEGEVH

approach

Objective: to structure the control steps of a complex vehicle (structuration level, progressive validations, implementation)

MEGEVH

5

2. Power HIL simulation of the HYbrid4

3. Experimentation on a HYbrid4 prototype

Modelling

Simulation

Prototype

Representation

HIL simulation

Systematic control

MEGEVH

approach

1. EMR and control of the HYbrid4

Summer School

HIL’16

Lille

Sept. 16 http://www.megevh.org/

Modelling

Prototype

HIL simulation

Systematic control

Representation

Simulation

1. EMR and control of the HYbrid4

MEGEVH

7

Iem

Vbat-HT

Idcdc-HV Vbat-HV

Vbat-LV Idcdc-LV

DC

DC

PHV-LVref Env.

vveh

vveh Ftot

Fres

Brake vveh

Fbrake

Fbrake-ref

ED

f

Ted-f

Belt Ted-f-ref

vveh

Fwh-f Front drivetrain

Pcl kgear

vveh

Ftract Tf

Ωcl

Bat.HV

Ibat-HV

Vbat-HV

EM

b

Ted-b

Ωed-b Ted-b-ref

Fwh-b

vveh

Back drivetrain

Pdog

Vbat-HV

Ied-b

Vbat-HV

Ied-f

ICE

Ωice Tice

Ωice Tice-ref

Ωstart

Tstart

LV network

EMR points out the:

- energetic flows

- key variables for the control

Ibat-HV

Vbat-HV

Bat.HV

Ied-b

Vbat-HV

Vbat-HV

Ied-tot Vbat-HT

Ied-f

Mth.

Tf

2

4

1

3

2

4

1

3

ED

b

ED

f

TICE

Ted-b

Ωed-b

Ted-f

Ωcl

Ted-b

Ωed-b

Ted-b

Ωed-b Tdog2

Ωed-b Tdog

Ωgear

Tdog

Ωgear Tdog

Ωgear

Tgear

Ωwh-b

Fwh-b

vveh

vveh

Fwh-f

Ωwh-f

Tgear 3

4

1

2

3

4

1

2

Tf

Ωcl

Tf

Ωcl Tcl2

Ωcl Tcl

Ωgear

Tcl

Ωbv Tcl

Ωgear

Belt Ted-f-ref

Ted-b-ref

pcl

Pdog

kgear

Env.

vveh

vveh Ftot

Fres vveh

Ftract

Brake

vveh

Fbrake

Fbrake-ref

Idcdc-HV

Vbat-HV

Vbat-LV

Idcdc-LV

DC

DC

PHV-LV-ref

ICE

Tspring

ΩICE

ΩICE

TICE-ref

Ωstart

Tstart

Ichop

Vbat-HV

Sup.LV

Vbat-LV

Ibat-LV

Isup-LV

Vbat-LV

Start

Tstrat-ref

Bat.LV

ΩICE

MEGEVH

8

Ied

Vbat-HV

Idcdc-HV Vbat-HV

Vbat-LV Idcdc-LV

DC

DC

PHV-LV-ref Env.

vveh

vveh Ftot

Fres

Brake vveh

Fbrake

Fbrake-ref

ED

f

Ted-f

Belt Ted-f-ref

vveh

Fwh-f Front drivetrain

Pcl kgear

vveh

Ftract Tf

Ωcl

Bat.HV

Ibat-HV

Vbat-HV

ED

b

Ted-b

Ωed-b Ted-b-ref

Fwh-b

vveh

Back drivetrain

Pdog

Vbat-HV

Ied-b

Vbat-HT

Imelav

ICE.

ΩICE TICE

ΩICE TICE-ref

Ωstart

Tstart

LV network

kd-tract-brake-ref kd-f-b-ref

Ωed_open

ΩICE_open

kd-f-ICE-ref

Strategy

Ftract-ref Ftot-ref

vveh-ref

Fwh-f-ref

Fwh-b-ref

Ted-f-ref

TICE-ref

Back drivetrain

control

Ted-b-ref

Front drivetrain

control Tf-ref

MEGEVH

9

Ibat-BT-ref

Vbat-HT

Imel-ar

Vbat-HT

ICE

Cmth

Ibat-HT

Vbat-HT

Cav

2

4

1

3

2

4

1

3

MEL

ar

MEL

av

Vbat-HT

Imel-tot

Cressort

Ωmth

Ωmth Cmth

Ωmth

Vbat-HT

Imel-av

Cmel-ar

Ωmel-ar

Cmel-av

Ωemb

Cmel-ar

Ωmel-ar

Cmel-ar

Ωmel-ar Ccrab2

Ωmel-ar Ccrab

Ωred

Ccrab

Ωred Ccrab

Ωred

Cred

Ωroue-ar

Froue-ar

vveh

vveh

Froue-av

Ωroue-av

Cbv 3

4

1

2

3

4

1

2

Cav

Ωemb

Cav

Ωemb Cemb2

Ωemb Cemb

Ωbv

Cemb

Ωbv Cemb

Ωbv

P/C

Cmth-ref

Cmelav-ref

Cmelar-ref

pemb

Pcrab

Kbv

Bat.HV

Cmth-ref

Cmelav-ref

Cmelar-ref

1

3

2

4

1

2

3

4

vveh-ref

Strategy

Ftract-ref Froue-av-ref

Froue-ar-ref Cred-ref

Cbv-ref Cemb-ref

Ccrab-ref

Ccrab-ref Cmel-ar-ref

Cav-ref Cemb-ref

Ωmth-emb_open

Ωmelar-crab_open

Cav-ref

Cav-ref

krep-av-ar krep-melav-mth

Env.

vveh

vveh Ftot

Fres vveh

Ftract

Brake

vveh

Ffreins

Ffreins-ref

Ftot-ref

Idcdc-HT

Vbat-HT

Vbat-BT

Idcdc-BT

DC

DC

PHT-BT-ref

Ωdem

Cdem

Ihach

Vbat-HT

Sup. LV

Vbat-BT

Ibat-BT

Ich-BT

Vbat-BT

Dem

Cdem-ref

Bat.LV

Idcdc-BT-ref

Summer School

HIL’16

Lille

Sept. 16 http://www.megevh.org/

2. Power HIL Simulation of the HYbrid4

Modelling

Simulation

Prototype

Representation

HIL simulation

Systematic control

MEGEVH

11

Emulation

Simulation

Prototype

Reduced-scale P-HIL

simulation

Full-scale P-HIL

simulation

Available platform:

1.5 kW (DCM & IM)

Objectives:

• validation of the portability

in real-time of the defined

systematic control

• preparation for the full-scale

P-HIL simulation

eV Platform

Specific platform:

10 kW – 20 kW (PMSM)

Objectives:

• validation of the real

subsystems (electric drives)

on a platform dedicated as

close as possible to the

vehicle environment

• Study of the limitations

and fault-tolerant modes

eV Platform

MEGEVH

12

PMSM 10 kW HV battery

PMSM 20 kW

emulated by

supercapacitors

emulated by an

IM of 20 kW

SM

20kW

IM

20kW

emulated by a

DCM of 10 kW

SM

10kW DCM

10kW

MEGEVH

13

Vbat-HT

Imel

Tmel-av-ref

ED

f Tmel-av

ED

b

Tmel-ar

Ωmel-ar Tmelar-ref

Vbat-HT

Imelar

Vbat-HT

Imelav Idcdc-

HT Vbat-

HT Env. vveh

vveh Ftot

Fres

Brake vveh

Ffreins

vveh

Froue-av Front drivetrain

vveh

Ftract Tav

Ωemb

Bat.HV Ibat-HT

Vbat-

HT

Froue-ar

vveh

Back drivetrain

ICE

Tmth

Ωmth

Ftot-ref

vveh-ref

Tmel-av-ref

Tmth-ref

Ffreins-ref Pemb kbv Pcrab

krep-tract-freins-ref

krep-av-ar-ref

Ωmel_open

Ωmth_open

krep-av-mth-ref

Strategy

Ftract-ref Froue-av-ref

Froue-ar-ref Back drivetrain

control Tmel-ar-ref

Front drivetrain

control Tav-ref

DCDC

MEGEVH

14

Vbat-HT

Imel

Tmel-av-ref

ED

f Tmel-av

ED

b

Tmel-ar

Ωmel-ar Tmelar-ref

Vbat-HT

Imelar

Vbat-HT

Imelav

Env. vveh

vveh Ftot

Fres

Brake vveh

Ffreins

vveh

Froue-av Front drivetrain

vveh

Ftract Tav

Ωemb

Froue-ar

vveh

Back drivetrain

ICE

Tmth

Ωmth

Ftot-ref

vveh-ref

Cmel-av-ref

Cmth-ref

Ffreins-ref Pemb kbv Pcrab

krep-tract-freins-ref

krep-av-ar-ref

Ωmel_open

Ωmth_open

krep-av-mth-ref

Strategy

Ftract-ref Froue-av-ref

Froue-ar-ref Back drivetrain

control Cmel-ar-ref

Front drivetrain

control Cav-ref

Idcdc-

HT

Vbat-

HT

Bat.HV Ibat-HT

Vbat-

HT

DCDC

Vbat-ref

vscap

iscap

Ωmel-av

Vres

Imel-emul Vres

Vres

Imel-emul-ar

Imel-emul-av

Rés.

Ωmel-av

Ωmel-ar

Tmel-emul-ar

Cmel-emul-av

Tmel-emul-ar_ref

Tmel-emul-av_ref

Iind

Scap

Vbat-HT

HIL platform

Control and HIL simulation

MEGEVH

15

Vbat-HT

Imel

Tmel-av-ref

ED

f Tmel-av

ED

b

Tmel-ar

Ωmel-ar Tmelar-ref

Vbat-HT

Imelar

Vbat-HT

Imelav

Env. vveh

vveh Ftot

Fres

Brake vveh

Ffreins

vveh

Froue-av Front drivetrain

vveh

Ftract Tav

Ωemb

Froue-ar

vveh

Back drivetrain

ICE

Tmth

Ωmth

Ftot-ref

vveh-ref

Cmel-av-ref

Cmth-ref

Ffreins-ref Pemb kbv Pcrab

krep-tract-freins-ref

krep-av-ar-ref

Ωmel_open

Ωmth_open

krep-av-mth-ref

Strategy

Ftract-ref Froue-av-ref

Froue-ar-ref Back drivetrain

control Cmel-ar-ref

Front drivetrain

control Cav-ref

Idcdc-

HT

Vbat-

HT

Bat.HV Ibat-HT

Vbat-

HT

DCDC

Vbat-ref

vscap

iscap

Ωmel-av

Vres

Imel-emul Vres

Vres

Imel-emul-ar

Imel-emul-av

Rés.

Ωmel-av

Ωmel-ar

Tmel-emul-ar

Cmel-emul-av

Tmel-emul-ar_ref

Tmel-emul-av_ref

Iind

Scap

Vbat-HT

control to test

models simulated

In real time

machines to test

Interfaces of emulation

MEGEVH

16

MEL

av

Vbat-HT

Imel-av

Cmelav-ref

Mth.

Cmth

Cmth-ref

Cav

Ωmth

Cmel-av

Ωemb

Froue-ar

vveh

vveh

Froue-av

Ωroue-av

Cbv

Cav

Ωemb Cav

Ωemb Cemb2

Ωemb Cemb

Ωbv

Cemb

Ωbv Cemb

Ωbv

P/C

pemb

Kbv

Froue-av-ref Cbv-ref Cemb-ref

Cav-ref Cemb-ref

Ωmth-emb_open Cav-ref Cav-ref

krep-melav-mth

network

Cmel-av

Ωmel-av

Imel-ar

Vbat-HT

MEL

ar Cmel-ar

Ωmel-ar

Cmelar-ref

network

Interface

Cmel-ar

Ωmel-ar Cmel-ar

Ωmel-ar Ccrab2

Ωmel-ar Ccrab

Ωred

Ccrab

Ωred Ccrab

Ωred

Cred

Ωroue-ar

Pcrab

Cmel-ar

Ωmel-ar

Cred-ref Ccrab-ref

Ccrab-ref Cmel-ar-ref

Ωmelar-crab_open

DC/DC

Bat.HT

Ibat-HT

Vbat-HT Vbat-HT

Imel-tot

Idcdc-HT

Vbat-HT

Vbus

Imel-tot

Vbus

Ihach

Isc

Vsc

Vhach

Isc

Scaps

Ωmel-av Imel-émul

Cmel-émul Vnet Ωmel-av Imel-émul

Cmel-émul Vnet

Interface

Interface

vveh-ref

Ftract-ref

Froue-ar-ref

krep-av-ar

Env. vveh

vveh Ftot

Fres

vveh

Ftract

Freins vveh

Ffreins

Ffreins-ref

Ftot-ref

krep-tract-freins

Stratégie

MEGEVH

17

SoC HV Battery (%)

ICE consumption (ml)

Battery voltage (V)

Back EM speed (rad/s)

Front EM speed (rad/s)

Gear engaged

Back EM torque (Nm)

Front EM torque (Nm)

ICE torque (Nm)

Summer School

HIL’16

Lille

Sept. 16 http://www.megevh.org/

3. Experimentation on a HYbrid4 prototype

Modelling

Simulation

Prototype

Representation

HIL simulation

Systematic control

MEGEVH

19

DC/DC

Ibat-HT

Vbat-HT

Idcdc-HT

Vbat-HT

Bat.HV

Imel-ar

Vbat-HT

ICE

Tav

2

4

1

3

2

4

1

3

ED

b

ED

f

Vbat-HT

Imel-tot

Ωmth

Tmth

Vbat-HT

Imel-av

Tmel-ar

Ωmel-ar

Tmel-av

Ωemb

Tmel-ar

Ωmel-ar

Tmel-ar

Ωmel-ar Tcrab2

Ωmel-ar Tcrab

Ωred

Tcrab

Ωred Tcrab

Ωred

Tred

Ωroue-ar

Froue-ar

vveh

vveh

Froue-av

Ωroue-av

Tbv 3

4

1

2

3

4

1

2

Tav

Ωemb

Tav

Ωemb Temb2

Ωemb Temb

Ωbv

Temb

Ωbv Temb

Ωbv

P/C

Tmth-ref

Tmelav-ref

Tmelar-ref

pemb

Pcrab

Kbv

Env.

vveh

vveh Ftot

Fres vveh

Ftract

Brake

vveh

Ffreins

Ffreins-ref

Cmth-ref

Cmelav-ref

Cmelar-ref 13

24

1

2

3

4

vveh-ref

Ftract-ref Froue-av-ref

Froue-ar-ref Cred-ref

Cbv-ref Cemb-ref

Ccrab-ref

Ccrab-ref Cmel-ar-ref

Cav-ref Cemb-ref

Ωmth-emb_open

Ωmelar-crab_open

Cav-ref

Cav-ref

krep-av-ar krep-melav-mth

Ftot-ref

Ffreins-ref

Driver

Strategy PTMU

Strategy

PTMU dSPACE

µAutobox

Cmth-ref

Cmelav-ref

Cmelar-ref 13

24

1

2

3

4

Strategy

Ftract-ref Froue-av-ref

Froue-ar-ref Cred-ref

Cbv-ref Cemb-ref

Ccrab-ref

Ccrab-ref Cmel-ar-ref

Cav-ref Cemb-ref

Ωmth-emb_open

Ωmelar-crab_open

Cav-ref

Cav-ref

krep-av-ar krep-melav-mth

Ftot-ref

Ffreins-ref

Driver

Strategy PTMU

MEGEVH

20

144 146 148 150 152 154 156

26.2

26.3

26.4

26.5

26.6

Etat de charge de la batterie Haute Tension [%] Simulation temps réel : HIL

Essai sur Prototype

Simulation sur ordinateur

HIL dynamics closer than simulation that uses a static modelling -> Advantage of the HIL platform: open platform

Modelling complexity of the “critical” components (eg. HV battery) -> Use of the real component into a power HIL simulation

Power HIL simulation

Prototype Simulation

Current of the HV battery (A)

SoC of the HV battery (%)

21.8 22 22.2 22.4 22.6 22.8 23 23.2 23.4-100

-80

-60

-40

-20

0

Courant de la batterie Haute tension [A]

Simulation temps réel : HIL

Essai sur Prototype

Simulation sur ordinateur

Courant de la batterie Haute tension [A]

144 146 148 150 152 154 156

26.2

26.3

26.4

26.5

26.6

Etat de charge de la batterie Haute Tension [%] Simulation temps réel : HIL

Essai sur Prototype

Simulation sur ordinateur

Summer School

HIL’16

Lille

Sept. 16 http://www.megevh.org/

Modelling

Simulation

Prototype

Representation

HIL simulation

Systematic control

MEGEVH

22

Modelling

Simulation

Prototype

Representation

HIL simulation

Systematic control

HIL simulation • Validation of the control and the subsystems on a dedicated platform (reduced-scale or/and full-scale)

Interest: • progressive validation method • same inversion-based control used

from the simulation to the prototype • direct implementation of the

control (no back-and-forth)

The EMR formalism as structuration and articulation

tool of the different parts

MEGEVH

23

[Letrouvé 09a] T. Letrouvé, P. Delarue, A. Bouscayrol, “Modelling and control of a double parallel hybrid electric vehicle using Energetic Macroscopic Representation”, Electromotion’09, Lille, France, July 2009.

[Letrouvé 09b] T. Letrouvé, A. Bouscayrol, W. Lhomme, “Influence of the clutch model in a simulation of a parallel Hybrid Electric Vehicle”, IEEE VPPC’09, Dearborn, USA, September 2009.

[Letrouvé 10] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Different models of a traction drive for an electric vehicle simulation”, IEEE VPPC’10, Lille, France, September 2010.

[Letrouvé 11] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Inversion Based Control of a double parallel Hybrid Electric Vehicle: Validation in a structural software”, IEEE VPPC’11, Chicago, USA, September 2011.

[Letrouvé 12] T. Letrouvé, A. Bouscayrol, W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Reduced-scale Hardware-In-the-Loop Simulation of a Peugeot 3∞8 HYbrid4 vehicle”, IEEE VPPC’12, Seoul, Korea, October 2012, 3rd Best Paper Award.

[Letrouvé 13a] T. Letrouvé, “Control structure from the simulation to the prototype of a double parallel hybrid vehicle using energetic macroscopic representation” (text in French), PhD thesis, University of Lille 1, March 2013, Industrial agreement with PSA Peugeot Citroën for training through research

[Letrouvé 13b] T. Letrouvé, W. Lhomme, A. Bouscayrol, N. Dollinger, “Control Validation of a Peugeot 3∞8 HYbrid4 vehicle using a reduced-scale Power Hardware-In-the-Loop Simulation”, JEET (Journal of Electrical Engineering and Technology), September 2013

VPPC 2012 Best Paper Prize

Summer School

HIL’16

Lille

Sept. 16 http://www.megevh.org/

Dr. T. Letrouvé1,2, Dr. Walter Lhomme1

Pr. A. Bouscayrol1, Dr. N. Dollinger2

1University of Lille 1, L2EP 2PSA Peugeot-Citroën Walter.Lhomme@univ-lille1.fr

Presentation based on the PhD of T. Letrouvé (2013)